22 lines
568 B
C
22 lines
568 B
C
#ifndef MOTION_CONTROL_H
|
|
#define MOTION_CONTROL_H
|
|
|
|
#include <stdint.h>
|
|
#include "i2c/headers/motors.h"
|
|
|
|
#define I2C_MOTION_CONTROLLER_ADDRESS 0x09
|
|
|
|
typedef struct motion_control_data_t {
|
|
int16_t angle;
|
|
int8_t x_axis_speed;
|
|
int8_t y_axis_speed;
|
|
} motion_control_data_t;
|
|
|
|
// Init values for motion control
|
|
void motion_control_init(void);
|
|
// Update motion control buffer from motion control data and gyro data
|
|
void i2c_update_motion_control(void);
|
|
// Update servo motors from motion control data
|
|
void i2c_update_servo_motors(void);
|
|
|
|
#endif // MOTION_CONTROL_H
|